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<title>Static Call Graph - [rm_sentry\rm_sentry.axf]</title></head>
<body><HR>
<H1>Static Call Graph for image rm_sentry\rm_sentry.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 5060528: Last Updated: Fri Nov 08 16:47:15 2024
<BR><P>
<H3>Maximum Stack Usage =        264 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3>
main &rArr; robot_init &rArr; ins_init &rArr; BMI088_init &rArr; Calibrate_MPU_Offset &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
<P>
<H3>
Mutually Recursive functions
</H3> <LI><a href="#[1c]">ADC_IRQHandler</a>&nbsp;&nbsp;&nbsp;&rArr;&nbsp;&nbsp;&nbsp;<a href="#[1c]">ADC_IRQHandler</a><BR>
</UL>
<P>
<H3>
Function Pointers
</H3><UL>
 <LI><a href="#[1c]">ADC_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4]">BusFault_Handler</a> from stm32f4xx_it.o(i.BusFault_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[1e]">CAN1_RX0_IRQHandler</a> from stm32f4xx_it.o(i.CAN1_RX0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[1f]">CAN1_RX1_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[20]">CAN1_SCE_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[1d]">CAN1_TX_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4a]">CAN2_RX0_IRQHandler</a> from stm32f4xx_it.o(i.CAN2_RX0_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4b]">CAN2_RX1_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4c]">CAN2_SCE_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[49]">CAN2_TX_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[58]">DCMI_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[15]">DMA1_Stream0_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[16]">DMA1_Stream1_IRQHandler</a> from stm32f4xx_it.o(i.DMA1_Stream1_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[17]">DMA1_Stream2_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[18]">DMA1_Stream3_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[19]">DMA1_Stream4_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[1a]">DMA1_Stream5_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[1b]">DMA1_Stream6_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[39]">DMA1_Stream7_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[42]">DMA2_Stream0_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[43]">DMA2_Stream1_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[44]">DMA2_Stream2_IRQHandler</a> from stm32f4xx_it.o(i.DMA2_Stream2_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[45]">DMA2_Stream3_IRQHandler</a> from stm32f4xx_it.o(i.DMA2_Stream3_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[46]">DMA2_Stream4_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4e]">DMA2_Stream5_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4f]">DMA2_Stream6_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[50]">DMA2_Stream7_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[7]">DebugMon_Handler</a> from stm32f4xx_it.o(i.DebugMon_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[47]">ETH_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[48]">ETH_WKUP_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[10]">EXTI0_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[32]">EXTI15_10_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[11]">EXTI1_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[12]">EXTI2_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[13]">EXTI3_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[14]">EXTI4_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[21]">EXTI9_5_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[e]">FLASH_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[3a]">FMC_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[5a]">FPU_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[59]">HASH_RNG_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2]">HardFault_Handler</a> from stm32f4xx_it.o(i.HardFault_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2a]">I2C1_ER_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[29]">I2C1_EV_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2c]">I2C2_ER_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2b]">I2C2_EV_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[53]">I2C3_ER_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[52]">I2C3_EV_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[5f]">IMU_QuaternionEKF_F_Linearization_P_Fading</a> from quaternionekf.o(i.IMU_QuaternionEKF_F_Linearization_P_Fading) referenced from quaternionekf.o(i.IMU_QuaternionEKF_Init)
 <LI><a href="#[5e]">IMU_QuaternionEKF_Observe</a> from quaternionekf.o(i.IMU_QuaternionEKF_Observe) referenced from quaternionekf.o(i.IMU_QuaternionEKF_Init)
 <LI><a href="#[60]">IMU_QuaternionEKF_SetH</a> from quaternionekf.o(i.IMU_QuaternionEKF_SetH) referenced from quaternionekf.o(i.IMU_QuaternionEKF_Init)
 <LI><a href="#[61]">IMU_QuaternionEKF_xhatUpdate</a> from quaternionekf.o(i.IMU_QuaternionEKF_xhatUpdate) referenced from quaternionekf.o(i.IMU_QuaternionEKF_Init)
 <LI><a href="#[3]">MemManage_Handler</a> from stm32f4xx_it.o(i.MemManage_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[1]">NMI_Handler</a> from stm32f4xx_it.o(i.NMI_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[4d]">OTG_FS_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[34]">OTG_FS_WKUP_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[55]">OTG_HS_EP1_IN_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[54]">OTG_HS_EP1_OUT_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[57]">OTG_HS_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[56]">OTG_HS_WKUP_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[b]">PVD_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[8]">PendSV_Handler</a> from port.o(.emb_text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[f]">RCC_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[33]">RTC_Alarm_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[d]">RTC_WKUP_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[0]">Reset_Handler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[3b]">SDIO_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2d]">SPI1_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2e]">SPI2_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[3d]">SPI3_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[6]">SVC_Handler</a> from port.o(.emb_text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[66]">StartDefaultTask</a> from freertos.o(i.StartDefaultTask) referenced from freertos.o(.constdata)
 <LI><a href="#[9]">SysTick_Handler</a> from port.o(i.SysTick_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[5c]">SystemInit</a> from system_stm32f4xx.o(i.SystemInit) referenced from startup_stm32f407xx.o(.text)
 <LI><a href="#[c]">TAMP_STAMP_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[22]">TIM1_BRK_TIM9_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[25]">TIM1_CC_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[24]">TIM1_TRG_COM_TIM11_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[23]">TIM1_UP_TIM10_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[26]">TIM2_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[27]">TIM3_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[28]">TIM4_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[3c]">TIM5_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[40]">TIM6_DAC_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[41]">TIM7_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[35]">TIM8_BRK_TIM12_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[38]">TIM8_CC_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[37]">TIM8_TRG_COM_TIM14_IRQHandler</a> from stm32f4xx_it.o(i.TIM8_TRG_COM_TIM14_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[36]">TIM8_UP_TIM13_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[3e]">UART4_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[3f]">UART5_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[2f]">USART1_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[30]">USART2_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[31]">USART3_IRQHandler</a> from rc.o(i.USART3_IRQHandler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[51]">USART6_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[5]">UsageFault_Handler</a> from stm32f4xx_it.o(i.UsageFault_Handler) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[a]">WWDG_IRQHandler</a> from startup_stm32f407xx.o(.text) referenced from startup_stm32f407xx.o(RESET)
 <LI><a href="#[5d]">__main</a> from entry.o(.ARM.Collect$$$$00000000) referenced from startup_stm32f407xx.o(.text)
 <LI><a href="#[5b]">main</a> from main.o(i.main) referenced from entry9a.o(.ARM.Collect$$$$0000000B)
 <LI><a href="#[62]">manager_task</a> from manager.o(i.manager_task) referenced from manager.o(i.manger_init)
 <LI><a href="#[65]">prvIdleTask</a> from tasks.o(i.prvIdleTask) referenced from tasks.o(i.vTaskStartScheduler)
 <LI><a href="#[63]">prvTaskExitError</a> from port.o(i.prvTaskExitError) referenced from port.o(i.pxPortInitialiseStack)
 <LI><a href="#[64]">robot_task</a> from robot.o(i.robot_task) referenced from robot.o(i.robot_init)
</UL>
<P>
<H3>
Global Symbols
</H3>
<P><STRONG><a name="[5d]"></a>__main</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry.o(.ARM.Collect$$$$00000000))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(.text)
</UL>
<P><STRONG><a name="[13c]"></a>_main_stk</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry2.o(.ARM.Collect$$$$00000001))

<P><STRONG><a name="[67]"></a>_main_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
<BR><BR>[Calls]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
</UL>

<P><STRONG><a name="[70]"></a>__main_after_scatterload</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry5.o(.ARM.Collect$$$$00000004))
<BR><BR>[Called By]<UL><LI><a href="#[68]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__scatterload
</UL>

<P><STRONG><a name="[13d]"></a>_main_clock</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry7b.o(.ARM.Collect$$$$00000008))

<P><STRONG><a name="[13e]"></a>_main_cpp_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry8b.o(.ARM.Collect$$$$0000000A))

<P><STRONG><a name="[13f]"></a>_main_init</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry9a.o(.ARM.Collect$$$$0000000B))

<P><STRONG><a name="[140]"></a>__rt_final_cpp</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry10a.o(.ARM.Collect$$$$0000000D))

<P><STRONG><a name="[141]"></a>__rt_final_exit</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, entry11a.o(.ARM.Collect$$$$0000000F))

<P><STRONG><a name="[6]"></a>SVC_Handler</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, port.o(.emb_text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[13a]"></a>__asm___6_port_c_39a90d8d__prvStartFirstTask</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, port.o(.emb_text))
<BR><BR>[Called By]<UL><LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
</UL>

<P><STRONG><a name="[139]"></a>__asm___6_port_c_39a90d8d__prvEnableVFP</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, port.o(.emb_text))
<BR><BR>[Called By]<UL><LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
</UL>

<P><STRONG><a name="[8]"></a>PendSV_Handler</STRONG> (Thumb, 88 bytes, Stack size 0 bytes, port.o(.emb_text))
<BR><BR>[Calls]<UL><LI><a href="#[69]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSwitchContext
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[142]"></a>vPortGetIPSR</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, port.o(.emb_text), UNUSED)

<P><STRONG><a name="[0]"></a>Reset_Handler</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1c]"></a>ADC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR><BR>[Calls]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC_IRQHandler
</UL>
<BR>[Called By]<UL><LI><a href="#[1c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ADC_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1f]"></a>CAN1_RX1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[20]"></a>CAN1_SCE_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1d]"></a>CAN1_TX_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[4b]"></a>CAN2_RX1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[4c]"></a>CAN2_SCE_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[49]"></a>CAN2_TX_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[58]"></a>DCMI_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[15]"></a>DMA1_Stream0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[17]"></a>DMA1_Stream2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[18]"></a>DMA1_Stream3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[19]"></a>DMA1_Stream4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1a]"></a>DMA1_Stream5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1b]"></a>DMA1_Stream6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[39]"></a>DMA1_Stream7_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[42]"></a>DMA2_Stream0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[43]"></a>DMA2_Stream1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[46]"></a>DMA2_Stream4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[4e]"></a>DMA2_Stream5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[4f]"></a>DMA2_Stream6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[50]"></a>DMA2_Stream7_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[47]"></a>ETH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[48]"></a>ETH_WKUP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[10]"></a>EXTI0_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[32]"></a>EXTI15_10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[11]"></a>EXTI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[12]"></a>EXTI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[13]"></a>EXTI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[14]"></a>EXTI4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[21]"></a>EXTI9_5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[e]"></a>FLASH_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[3a]"></a>FMC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[5a]"></a>FPU_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[59]"></a>HASH_RNG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[2a]"></a>I2C1_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[29]"></a>I2C1_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[2c]"></a>I2C2_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[2b]"></a>I2C2_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[53]"></a>I2C3_ER_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[52]"></a>I2C3_EV_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[4d]"></a>OTG_FS_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[34]"></a>OTG_FS_WKUP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[55]"></a>OTG_HS_EP1_IN_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[54]"></a>OTG_HS_EP1_OUT_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[57]"></a>OTG_HS_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[56]"></a>OTG_HS_WKUP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[b]"></a>PVD_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[f]"></a>RCC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[33]"></a>RTC_Alarm_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[d]"></a>RTC_WKUP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[3b]"></a>SDIO_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[2d]"></a>SPI1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[2e]"></a>SPI2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[3d]"></a>SPI3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[c]"></a>TAMP_STAMP_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[22]"></a>TIM1_BRK_TIM9_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[25]"></a>TIM1_CC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[24]"></a>TIM1_TRG_COM_TIM11_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[23]"></a>TIM1_UP_TIM10_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[26]"></a>TIM2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[27]"></a>TIM3_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[28]"></a>TIM4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[3c]"></a>TIM5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[40]"></a>TIM6_DAC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[41]"></a>TIM7_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[35]"></a>TIM8_BRK_TIM12_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[38]"></a>TIM8_CC_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[36]"></a>TIM8_UP_TIM13_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[3e]"></a>UART4_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[3f]"></a>UART5_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[2f]"></a>USART1_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[30]"></a>USART2_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[51]"></a>USART6_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[a]"></a>WWDG_IRQHandler</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, startup_stm32f407xx.o(.text))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[ce]"></a>arm_cos_f32</STRONG> (Thumb, 108 bytes, Stack size 0 bytes, arm_cos_f32.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Param_Correction
</UL>

<P><STRONG><a name="[cf]"></a>arm_sin_f32</STRONG> (Thumb, 118 bytes, Stack size 0 bytes, arm_sin_f32.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Param_Correction
</UL>

<P><STRONG><a name="[da]"></a>arm_mat_add_f32</STRONG> (Thumb, 264 bytes, Stack size 12 bytes, arm_mat_add_f32.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = arm_mat_add_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatUpdate
<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatMinusUpdate
<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_SetK
<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_PminusUpdate
</UL>

<P><STRONG><a name="[d3]"></a>arm_mat_init_f32</STRONG> (Thumb, 8 bytes, Stack size 0 bytes, arm_mat_init_f32.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Init
<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Init
</UL>

<P><STRONG><a name="[db]"></a>arm_mat_inverse_f32</STRONG> (Thumb, 1328 bytes, Stack size 60 bytes, arm_mat_inverse_f32.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 60<LI>Call Chain = arm_mat_inverse_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_SetK
</UL>

<P><STRONG><a name="[d9]"></a>arm_mat_mult_f32</STRONG> (Thumb, 312 bytes, Stack size 44 bytes, arm_mat_mult_f32.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 44<LI>Call Chain = arm_mat_mult_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatUpdate
<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatMinusUpdate
<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_SetK
<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_PminusUpdate
<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_P_Update
</UL>

<P><STRONG><a name="[dd]"></a>arm_mat_sub_f32</STRONG> (Thumb, 264 bytes, Stack size 12 bytes, arm_mat_sub_f32.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = arm_mat_sub_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
<LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatUpdate
<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_P_Update
</UL>

<P><STRONG><a name="[d8]"></a>arm_mat_trans_f32</STRONG> (Thumb, 276 bytes, Stack size 44 bytes, arm_mat_trans_f32.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 44<LI>Call Chain = arm_mat_trans_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_SetK
<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_PminusUpdate
</UL>

<P><STRONG><a name="[6a]"></a>__aeabi_uldivmod</STRONG> (Thumb, 98 bytes, Stack size 40 bytes, uldiv.o(.text))
<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = __aeabi_uldivmod
</UL>
<BR>[Calls]<UL><LI><a href="#[6b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsr
<LI><a href="#[6c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_llsl
</UL>
<BR>[Called By]<UL><LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
<LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_SysTimeUpdate
<LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
</UL>

<P><STRONG><a name="[143]"></a>__aeabi_memcpy</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

<P><STRONG><a name="[cc]"></a>__aeabi_memcpy4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FREERTOS_Init
<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Init
<LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
<LI><a href="#[5e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Observe
<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Measure
<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;H_K_R_Adjustment
</UL>

<P><STRONG><a name="[144]"></a>__aeabi_memcpy8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memcpya.o(.text), UNUSED)

<P><STRONG><a name="[6e]"></a>__aeabi_memset</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, memseta.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[6f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;memset
<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
</UL>

<P><STRONG><a name="[145]"></a>__aeabi_memset4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

<P><STRONG><a name="[146]"></a>__aeabi_memset8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

<P><STRONG><a name="[6d]"></a>__aeabi_memclr</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, memseta.o(.text))
<BR><BR>[Calls]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
</UL>
<BR>[Called By]<UL><LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Init
<LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Derivative
<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Init
</UL>

<P><STRONG><a name="[98]"></a>__aeabi_memclr4</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_MspInit
<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_MspInit
<LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
<LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
<LI><a href="#[106]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
<LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Init
<LI><a href="#[60]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_SetH
<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Measure
<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Init
<LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;H_K_R_Adjustment
</UL>

<P><STRONG><a name="[147]"></a>__aeabi_memclr8</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, memseta.o(.text), UNUSED)

<P><STRONG><a name="[6f]"></a>memset</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, memseta.o(.text), UNUSED)
<BR><BR>[Calls]<UL><LI><a href="#[6e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memset
</UL>

<P><STRONG><a name="[6c]"></a>__aeabi_llsl</STRONG> (Thumb, 30 bytes, Stack size 0 bytes, llshl.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
</UL>

<P><STRONG><a name="[148]"></a>_ll_shift_l</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llshl.o(.text), UNUSED)

<P><STRONG><a name="[6b]"></a>__aeabi_llsr</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, llushr.o(.text))
<BR><BR>[Called By]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
</UL>

<P><STRONG><a name="[149]"></a>_ll_ushift_r</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, llushr.o(.text), UNUSED)

<P><STRONG><a name="[14a]"></a>__I$use$fp</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, iusefp.o(.text), UNUSED)

<P><STRONG><a name="[68]"></a>__scatterload</STRONG> (Thumb, 28 bytes, Stack size 0 bytes, init.o(.text))
<BR><BR>[Calls]<UL><LI><a href="#[70]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__main_after_scatterload
</UL>
<BR>[Called By]<UL><LI><a href="#[67]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;_main_scatterload
</UL>

<P><STRONG><a name="[14b]"></a>__scatterload_rt2</STRONG> (Thumb, 0 bytes, Stack size 0 bytes, init.o(.text), UNUSED)

<P><STRONG><a name="[14c]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)

<P><STRONG><a name="[14d]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED)

<P><STRONG><a name="[71]"></a>BMI088_ACCEL_NS_H</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, bmi_driver.o(i.BMI088_ACCEL_NS_H))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = BMI088_ACCEL_NS_H
</UL>
<BR>[Calls]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
</UL>
<BR>[Called By]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_accel_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
</UL>

<P><STRONG><a name="[73]"></a>BMI088_ACCEL_NS_L</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, bmi_driver.o(i.BMI088_ACCEL_NS_L))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = BMI088_ACCEL_NS_L
</UL>
<BR>[Calls]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
</UL>
<BR>[Called By]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_accel_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
</UL>

<P><STRONG><a name="[74]"></a>BMI088_GYRO_NS_H</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, bmi_driver.o(i.BMI088_GYRO_NS_H))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = BMI088_GYRO_NS_H
</UL>
<BR>[Calls]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
</UL>
<BR>[Called By]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_gyro_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
</UL>

<P><STRONG><a name="[75]"></a>BMI088_GYRO_NS_L</STRONG> (Thumb, 14 bytes, Stack size 8 bytes, bmi_driver.o(i.BMI088_GYRO_NS_L))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = BMI088_GYRO_NS_L
</UL>
<BR>[Calls]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
</UL>
<BR>[Called By]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_gyro_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
</UL>

<P><STRONG><a name="[76]"></a>BMI088_Read</STRONG> (Thumb, 614 bytes, Stack size 8 bytes, bmi_driver.o(i.BMI088_Read))
<BR><BR>[Stack]<UL><LI>Max Depth = 160<LI>Call Chain = BMI088_Read &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_L
<LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_H
<LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_L
<LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_H
<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_muli_reg
</UL>
<BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[79]"></a>BMI088_init</STRONG> (Thumb, 118 bytes, Stack size 16 bytes, bmi_driver.o(i.BMI088_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 232<LI>Call Chain = BMI088_init &rArr; Calibrate_MPU_Offset &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_gyro_init
<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_accel_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
</UL>
<BR>[Called By]<UL><LI><a href="#[111]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ins_init
</UL>

<P><STRONG><a name="[77]"></a>BMI088_read_write_byte</STRONG> (Thumb, 30 bytes, Stack size 16 bytes, bmi_driver.o(i.BMI088_read_write_byte))
<BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
</UL>
<BR>[Called By]<UL><LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_accel_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_write_single_reg
<LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_single_reg
<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_muli_reg
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
</UL>

<P><STRONG><a name="[e6]"></a>BodyFrameToEarthFrame</STRONG> (Thumb, 346 bytes, Stack size 0 bytes, ins_task.o(i.BodyFrameToEarthFrame))
<BR><BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[4]"></a>BusFault_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.BusFault_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1e]"></a>CAN1_RX0_IRQHandler</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(i.CAN1_RX0_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = CAN1_RX0_IRQHandler &rArr; HAL_CAN_IRQHandler &rArr; HAL_CAN_RxFifo0MsgPendingCallback &rArr; HAL_CAN_GetRxMessage
</UL>
<BR>[Calls]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[4a]"></a>CAN2_RX0_IRQHandler</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(i.CAN2_RX0_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = CAN2_RX0_IRQHandler &rArr; HAL_CAN_IRQHandler &rArr; HAL_CAN_RxFifo0MsgPendingCallback &rArr; HAL_CAN_GetRxMessage
</UL>
<BR>[Calls]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[7c]"></a>Calibrate_MPU_Offset</STRONG> (Thumb, 1308 bytes, Stack size 64 bytes, bmi_driver.o(i.Calibrate_MPU_Offset))
<BR><BR>[Stack]<UL><LI>Max Depth = 216<LI>Call Chain = Calibrate_MPU_Offset &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
<LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_GetTimeline_s
<LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_L
<LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_H
<LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_L
<LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_H
<LI><a href="#[78]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_muli_reg
<LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sqrtf
</UL>
<BR>[Called By]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_init
</UL>

<P><STRONG><a name="[16]"></a>DMA1_Stream1_IRQHandler</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(i.DMA1_Stream1_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = DMA1_Stream1_IRQHandler &rArr; HAL_DMA_IRQHandler
</UL>
<BR>[Calls]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[44]"></a>DMA2_Stream2_IRQHandler</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(i.DMA2_Stream2_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = DMA2_Stream2_IRQHandler &rArr; HAL_DMA_IRQHandler
</UL>
<BR>[Calls]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[45]"></a>DMA2_Stream3_IRQHandler</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(i.DMA2_Stream3_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = DMA2_Stream3_IRQHandler &rArr; HAL_DMA_IRQHandler
</UL>
<BR>[Calls]<UL><LI><a href="#[84]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[85]"></a>DWT_GetDeltaT</STRONG> (Thumb, 68 bytes, Stack size 24 bytes, dwt.o(i.DWT_GetDeltaT))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = DWT_GetDeltaT &rArr; DWT_CNT_Update
</UL>
<BR>[Calls]<UL><LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_CNT_Update
</UL>
<BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[81]"></a>DWT_GetTimeline_s</STRONG> (Thumb, 72 bytes, Stack size 16 bytes, dwt.o(i.DWT_GetTimeline_s))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = DWT_GetTimeline_s &rArr; DWT_SysTimeUpdate &rArr; __aeabi_uldivmod
</UL>
<BR>[Calls]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_SysTimeUpdate
</UL>
<BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
</UL>

<P><STRONG><a name="[132]"></a>DWT_Init</STRONG> (Thumb, 74 bytes, Stack size 0 bytes, dwt.o(i.DWT_Init))
<BR><BR>[Called By]<UL><LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_init
</UL>

<P><STRONG><a name="[87]"></a>DWT_SysTimeUpdate</STRONG> (Thumb, 168 bytes, Stack size 16 bytes, dwt.o(i.DWT_SysTimeUpdate))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = DWT_SysTimeUpdate &rArr; __aeabi_uldivmod
</UL>
<BR>[Calls]<UL><LI><a href="#[86]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_CNT_Update
<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
</UL>
<BR>[Called By]<UL><LI><a href="#[81]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_GetTimeline_s
</UL>

<P><STRONG><a name="[7]"></a>DebugMon_Handler</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.DebugMon_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[e7]"></a>EarthFrameToBodyFrame</STRONG> (Thumb, 346 bytes, Stack size 0 bytes, ins_task.o(i.EarthFrameToBodyFrame))
<BR><BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[b1]"></a>Error_Handler</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, main.o(i.Error_Handler))
<BR><BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_MspInit
<LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
<LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
<LI><a href="#[f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_SPI1_Init
<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN2_Init
<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN1_Init
<LI><a href="#[106]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
</UL>

<P><STRONG><a name="[94]"></a>HAL_CAN_ErrorCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_ErrorCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[9c]"></a>HAL_CAN_GetRxMessage</STRONG> (Thumb, 378 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_GetRxMessage))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_CAN_GetRxMessage
</UL>
<BR>[Called By]<UL><LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_RxFifo0MsgPendingCallback
</UL>

<P><STRONG><a name="[80]"></a>HAL_CAN_IRQHandler</STRONG> (Thumb, 590 bytes, Stack size 40 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = HAL_CAN_IRQHandler &rArr; HAL_CAN_RxFifo0MsgPendingCallback &rArr; HAL_CAN_GetRxMessage
</UL>
<BR>[Calls]<UL><LI><a href="#[93]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_WakeUpFromRxMsgCallback
<LI><a href="#[8c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_TxMailbox2CompleteCallback
<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_TxMailbox2AbortCallback
<LI><a href="#[8a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_TxMailbox1CompleteCallback
<LI><a href="#[8b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_TxMailbox1AbortCallback
<LI><a href="#[88]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_TxMailbox0CompleteCallback
<LI><a href="#[89]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_TxMailbox0AbortCallback
<LI><a href="#[92]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_SleepCallback
<LI><a href="#[91]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_RxFifo1MsgPendingCallback
<LI><a href="#[90]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_RxFifo1FullCallback
<LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_RxFifo0FullCallback
<LI><a href="#[94]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_ErrorCallback
<LI><a href="#[8f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_RxFifo0MsgPendingCallback
</UL>
<BR>[Called By]<UL><LI><a href="#[4a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CAN2_RX0_IRQHandler
<LI><a href="#[1e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;CAN1_RX0_IRQHandler
</UL>

<P><STRONG><a name="[95]"></a>HAL_CAN_Init</STRONG> (Thumb, 372 bytes, Stack size 16 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = HAL_CAN_Init &rArr; HAL_CAN_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_MspInit
<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
</UL>
<BR>[Called By]<UL><LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN2_Init
<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN1_Init
</UL>

<P><STRONG><a name="[96]"></a>HAL_CAN_MspInit</STRONG> (Thumb, 328 bytes, Stack size 32 bytes, can.o(i.HAL_CAN_MspInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = HAL_CAN_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Init
</UL>

<P><STRONG><a name="[8e]"></a>HAL_CAN_RxFifo0FullCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_RxFifo0FullCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[8f]"></a>HAL_CAN_RxFifo0MsgPendingCallback</STRONG> (Thumb, 492 bytes, Stack size 48 bytes, motor_driver.o(i.HAL_CAN_RxFifo0MsgPendingCallback))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = HAL_CAN_RxFifo0MsgPendingCallback &rArr; HAL_CAN_GetRxMessage
</UL>
<BR>[Calls]<UL><LI><a href="#[9c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_GetRxMessage
</UL>
<BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[90]"></a>HAL_CAN_RxFifo1FullCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_RxFifo1FullCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[91]"></a>HAL_CAN_RxFifo1MsgPendingCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_RxFifo1MsgPendingCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[92]"></a>HAL_CAN_SleepCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_SleepCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[89]"></a>HAL_CAN_TxMailbox0AbortCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_TxMailbox0AbortCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[88]"></a>HAL_CAN_TxMailbox0CompleteCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_TxMailbox0CompleteCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[8b]"></a>HAL_CAN_TxMailbox1AbortCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_TxMailbox1AbortCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[8a]"></a>HAL_CAN_TxMailbox1CompleteCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_TxMailbox1CompleteCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[8d]"></a>HAL_CAN_TxMailbox2AbortCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_TxMailbox2AbortCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[8c]"></a>HAL_CAN_TxMailbox2CompleteCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_TxMailbox2CompleteCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[93]"></a>HAL_CAN_WakeUpFromRxMsgCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_can.o(i.HAL_CAN_WakeUpFromRxMsgCallback))
<BR><BR>[Called By]<UL><LI><a href="#[80]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_IRQHandler
</UL>

<P><STRONG><a name="[84]"></a>HAL_DMA_IRQHandler</STRONG> (Thumb, 570 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(i.HAL_DMA_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_DMA_IRQHandler
</UL>
<BR>[Called By]<UL><LI><a href="#[45]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA2_Stream3_IRQHandler
<LI><a href="#[44]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA2_Stream2_IRQHandler
<LI><a href="#[16]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA1_Stream1_IRQHandler
</UL>

<P><STRONG><a name="[9d]"></a>HAL_DMA_Init</STRONG> (Thumb, 232 bytes, Stack size 24 bytes, stm32f4xx_hal_dma.o(i.HAL_DMA_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_DMA_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[9e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA_CheckFifoParam
<LI><a href="#[9f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DMA_CalcBaseAndBitshift
<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
</UL>
<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_MspInit
</UL>

<P><STRONG><a name="[82]"></a>HAL_Delay</STRONG> (Thumb, 36 bytes, Stack size 16 bytes, stm32f4xx_hal.o(i.HAL_Delay))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_Delay
</UL>
<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
<LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_gyro_init
<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_accel_init
<LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
</UL>

<P><STRONG><a name="[99]"></a>HAL_GPIO_Init</STRONG> (Thumb, 454 bytes, Stack size 24 bytes, stm32f4xx_hal_gpio.o(i.HAL_GPIO_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_GPIO_Init
</UL>
<BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
<LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_MspInit
<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_MspInit
<LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
</UL>

<P><STRONG><a name="[72]"></a>HAL_GPIO_WritePin</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, stm32f4xx_hal_gpio.o(i.HAL_GPIO_WritePin))
<BR><BR>[Called By]<UL><LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_L
<LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_H
<LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_L
<LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_H
</UL>

<P><STRONG><a name="[97]"></a>HAL_GetTick</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_hal.o(i.HAL_GetTick))
<BR><BR>[Called By]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
<LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Init
<LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
<LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
<LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_WaitFlagStateUntilTimeout
<LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
</UL>

<P><STRONG><a name="[c7]"></a>HAL_IncTick</STRONG> (Thumb, 16 bytes, Stack size 0 bytes, stm32f4xx_hal.o(i.HAL_IncTick))
<BR><BR>[Called By]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PeriodElapsedCallback
</UL>

<P><STRONG><a name="[a0]"></a>HAL_Init</STRONG> (Thumb, 54 bytes, Stack size 8 bytes, stm32f4xx_hal.o(i.HAL_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = HAL_Init &rArr; HAL_InitTick &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_MspInit
<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
<LI><a href="#[a1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriorityGrouping
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[a2]"></a>HAL_InitTick</STRONG> (Thumb, 160 bytes, Stack size 56 bytes, stm32f4xx_hal_timebase_tim.o(i.HAL_InitTick))
<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = HAL_InitTick &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
<LI><a href="#[a7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Start_IT
<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK1Freq
<LI><a href="#[a4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetClockConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
</UL>

<P><STRONG><a name="[a3]"></a>HAL_MspInit</STRONG> (Thumb, 78 bytes, Stack size 8 bytes, stm32f4xx_hal_msp.o(i.HAL_MspInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = HAL_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
</UL>
<BR>[Called By]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
</UL>

<P><STRONG><a name="[9b]"></a>HAL_NVIC_EnableIRQ</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(i.HAL_NVIC_EnableIRQ))
<BR><BR>[Called By]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_MspInit
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
</UL>

<P><STRONG><a name="[9a]"></a>HAL_NVIC_SetPriority</STRONG> (Thumb, 124 bytes, Stack size 40 bytes, stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriority))
<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[a9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__NVIC_SetPriority
<LI><a href="#[a8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__NVIC_GetPriorityGrouping
</UL>
<BR>[Called By]<UL><LI><a href="#[a3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_MspInit
<LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[96]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_MspInit
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
</UL>

<P><STRONG><a name="[a1]"></a>HAL_NVIC_SetPriorityGrouping</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(i.HAL_NVIC_SetPriorityGrouping))
<BR><BR>[Called By]<UL><LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
</UL>

<P><STRONG><a name="[aa]"></a>HAL_RCC_ClockConfig</STRONG> (Thumb, 368 bytes, Stack size 16 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_ClockConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = HAL_RCC_ClockConfig &rArr; HAL_InitTick &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[ab]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetSysClockFreq
<LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
</UL>
<BR>[Called By]<UL><LI><a href="#[106]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
</UL>

<P><STRONG><a name="[a4]"></a>HAL_RCC_GetClockConfig</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetClockConfig))
<BR><BR>[Called By]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
</UL>

<P><STRONG><a name="[ac]"></a>HAL_RCC_GetHCLKFreq</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetHCLKFreq))
<BR><BR>[Called By]<UL><LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK2Freq
<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK1Freq
</UL>

<P><STRONG><a name="[a5]"></a>HAL_RCC_GetPCLK1Freq</STRONG> (Thumb, 22 bytes, Stack size 4 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK1Freq))
<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = HAL_RCC_GetPCLK1Freq
</UL>
<BR>[Calls]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetHCLKFreq
</UL>
<BR>[Called By]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
<LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
</UL>

<P><STRONG><a name="[ad]"></a>HAL_RCC_GetPCLK2Freq</STRONG> (Thumb, 22 bytes, Stack size 4 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetPCLK2Freq))
<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = HAL_RCC_GetPCLK2Freq
</UL>
<BR>[Calls]<UL><LI><a href="#[ac]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetHCLKFreq
</UL>
<BR>[Called By]<UL><LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
</UL>

<P><STRONG><a name="[ab]"></a>HAL_RCC_GetSysClockFreq</STRONG> (Thumb, 162 bytes, Stack size 32 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_GetSysClockFreq))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = HAL_RCC_GetSysClockFreq &rArr; __aeabi_uldivmod
</UL>
<BR>[Calls]<UL><LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
</UL>
<BR>[Called By]<UL><LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
</UL>

<P><STRONG><a name="[ae]"></a>HAL_RCC_OscConfig</STRONG> (Thumb, 1172 bytes, Stack size 24 bytes, stm32f4xx_hal_rcc.o(i.HAL_RCC_OscConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = HAL_RCC_OscConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
</UL>
<BR>[Called By]<UL><LI><a href="#[106]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
</UL>

<P><STRONG><a name="[af]"></a>HAL_SPI_Init</STRONG> (Thumb, 200 bytes, Stack size 8 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = HAL_SPI_Init &rArr; HAL_SPI_MspInit &rArr; HAL_DMA_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[b0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_MspInit
</UL>
<BR>[Called By]<UL><LI><a href="#[f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_SPI1_Init
</UL>

<P><STRONG><a name="[b0]"></a>HAL_SPI_MspInit</STRONG> (Thumb, 316 bytes, Stack size 32 bytes, spi.o(i.HAL_SPI_MspInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = HAL_SPI_MspInit &rArr; HAL_DMA_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Init
</UL>

<P><STRONG><a name="[7e]"></a>HAL_SPI_TransmitReceive</STRONG> (Thumb, 554 bytes, Stack size 56 bytes, stm32f4xx_hal_spi.o(i.HAL_SPI_TransmitReceive))
<BR><BR>[Stack]<UL><LI>Max Depth = 120<LI>Call Chain = HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
<LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTxTransaction
</UL>
<BR>[Called By]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
</UL>

<P><STRONG><a name="[ba]"></a>HAL_TIMEx_BreakCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_BreakCallback))
<BR><BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[bc]"></a>HAL_TIMEx_CommutCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim_ex.o(i.HAL_TIMEx_CommutCallback))
<BR><BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[a6]"></a>HAL_TIM_Base_Init</STRONG> (Thumb, 102 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_Base_Init &rArr; HAL_TIM_Base_MspInit
</UL>
<BR>[Calls]<UL><LI><a href="#[b3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_MspInit
<LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
<LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
</UL>

<P><STRONG><a name="[b3]"></a>HAL_TIM_Base_MspInit</STRONG> (Thumb, 44 bytes, Stack size 8 bytes, tim.o(i.HAL_TIM_Base_MspInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_Base_MspInit
</UL>
<BR>[Called By]<UL><LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
</UL>

<P><STRONG><a name="[a7]"></a>HAL_TIM_Base_Start_IT</STRONG> (Thumb, 138 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_Base_Start_IT))
<BR><BR>[Called By]<UL><LI><a href="#[a2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_InitTick
</UL>

<P><STRONG><a name="[b6]"></a>HAL_TIM_IC_CaptureCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_IC_CaptureCallback))
<BR><BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[b5]"></a>HAL_TIM_IRQHandler</STRONG> (Thumb, 406 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_IRQHandler &rArr; HAL_TIM_PeriodElapsedCallback
</UL>
<BR>[Calls]<UL><LI><a href="#[b9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PeriodElapsedCallback
<LI><a href="#[bb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_TriggerCallback
<LI><a href="#[b8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_PulseFinishedCallback
<LI><a href="#[b7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_OC_DelayElapsedCallback
<LI><a href="#[b6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IC_CaptureCallback
<LI><a href="#[bc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_CommutCallback
<LI><a href="#[ba]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIMEx_BreakCallback
</UL>
<BR>[Called By]<UL><LI><a href="#[37]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM8_TRG_COM_TIM14_IRQHandler
</UL>

<P><STRONG><a name="[bd]"></a>HAL_TIM_MspPostInit</STRONG> (Thumb, 86 bytes, Stack size 32 bytes, tim.o(i.HAL_TIM_MspPostInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = HAL_TIM_MspPostInit &rArr; HAL_GPIO_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
</UL>

<P><STRONG><a name="[b7]"></a>HAL_TIM_OC_DelayElapsedCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_OC_DelayElapsedCallback))
<BR><BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[be]"></a>HAL_TIM_PWM_ConfigChannel</STRONG> (Thumb, 260 bytes, Stack size 24 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_ConfigChannel))
<BR><BR>[Stack]<UL><LI>Max Depth = 36<LI>Call Chain = HAL_TIM_PWM_ConfigChannel &rArr; TIM_OC2_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[c0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_OC2_SetConfig
<LI><a href="#[c2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_OC4_SetConfig
<LI><a href="#[c1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_OC3_SetConfig
<LI><a href="#[bf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_OC1_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
</UL>

<P><STRONG><a name="[c3]"></a>HAL_TIM_PWM_Init</STRONG> (Thumb, 102 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = HAL_TIM_PWM_Init &rArr; TIM_Base_SetConfig
</UL>
<BR>[Calls]<UL><LI><a href="#[c4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_MspInit
<LI><a href="#[b4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Base_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
</UL>

<P><STRONG><a name="[c4]"></a>HAL_TIM_PWM_MspInit</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_MspInit))
<BR><BR>[Called By]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
</UL>

<P><STRONG><a name="[b8]"></a>HAL_TIM_PWM_PulseFinishedCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_PulseFinishedCallback))
<BR><BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[c5]"></a>HAL_TIM_PWM_Start</STRONG> (Thumb, 238 bytes, Stack size 16 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_PWM_Start))
<BR><BR>[Stack]<UL><LI>Max Depth = 28<LI>Call Chain = HAL_TIM_PWM_Start &rArr; TIM_CCxChannelCmd
</UL>
<BR>[Calls]<UL><LI><a href="#[c6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_CCxChannelCmd
</UL>
<BR>[Called By]<UL><LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Init
</UL>

<P><STRONG><a name="[b9]"></a>HAL_TIM_PeriodElapsedCallback</STRONG> (Thumb, 18 bytes, Stack size 8 bytes, main.o(i.HAL_TIM_PeriodElapsedCallback))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = HAL_TIM_PeriodElapsedCallback
</UL>
<BR>[Calls]<UL><LI><a href="#[c7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_IncTick
</UL>
<BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[bb]"></a>HAL_TIM_TriggerCallback</STRONG> (Thumb, 2 bytes, Stack size 0 bytes, stm32f4xx_hal_tim.o(i.HAL_TIM_TriggerCallback))
<BR><BR>[Called By]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>

<P><STRONG><a name="[c8]"></a>HAL_UART_Init</STRONG> (Thumb, 114 bytes, Stack size 8 bytes, stm32f4xx_hal_uart.o(i.HAL_UART_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = HAL_UART_Init &rArr; HAL_UART_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[c9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_MspInit
<LI><a href="#[ca]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;UART_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
</UL>

<P><STRONG><a name="[c9]"></a>HAL_UART_MspInit</STRONG> (Thumb, 204 bytes, Stack size 32 bytes, usart.o(i.HAL_UART_MspInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = HAL_UART_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
<LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
</UL>

<P><STRONG><a name="[2]"></a>HardFault_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.HardFault_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[cd]"></a>IMU_Param_Correction</STRONG> (Thumb, 826 bytes, Stack size 72 bytes, ins_task.o(i.IMU_Param_Correction))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = IMU_Param_Correction
</UL>
<BR>[Calls]<UL><LI><a href="#[cf]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_sin_f32
<LI><a href="#[ce]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_cos_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[d1]"></a>IMU_QuaternionEKF_Init</STRONG> (Thumb, 264 bytes, Stack size 32 bytes, quaternionekf.o(i.IMU_QuaternionEKF_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 128<LI>Call Chain = IMU_QuaternionEKF_Init &rArr; Kalman_Filter_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_init_f32
<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Init
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>
<BR>[Called By]<UL><LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Init
<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
</UL>

<P><STRONG><a name="[d4]"></a>IMU_QuaternionEKF_Update</STRONG> (Thumb, 1566 bytes, Stack size 40 bytes, quaternionekf.o(i.IMU_QuaternionEKF_Update))
<BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = IMU_QuaternionEKF_Update &rArr; IMU_QuaternionEKF_Init &rArr; Kalman_Filter_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Init
<LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;invSqrt
<LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_atan2f
<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
</UL>
<BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[de]"></a>IMU_Temperature_Ctrl</STRONG> (Thumb, 90 bytes, Stack size 16 bytes, ins_task.o(i.IMU_Temperature_Ctrl))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = IMU_Temperature_Ctrl &rArr; PID_Calculate &rArr; DWT_GetDeltaT &rArr; DWT_CNT_Update
</UL>
<BR>[Calls]<UL><LI><a href="#[e1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;float_constrain
<LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
<LI><a href="#[e2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;TIM_Set_PWM
<LI><a href="#[e0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;float_rounding
</UL>
<BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
</UL>

<P><STRONG><a name="[e3]"></a>INS_Init</STRONG> (Thumb, 152 bytes, Stack size 8 bytes, ins_task.o(i.INS_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = INS_Init &rArr; PID_Improve_Init &rArr; OLS_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Start
<LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Improve_Init
<LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Init
</UL>
<BR>[Called By]<UL><LI><a href="#[111]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ins_init
</UL>

<P><STRONG><a name="[e5]"></a>INS_Task</STRONG> (Thumb, 566 bytes, Stack size 32 bytes, ins_task.o(i.INS_Task))
<BR><BR>[Stack]<UL><LI>Max Depth = 200<LI>Call Chain = INS_Task &rArr; IMU_QuaternionEKF_Update &rArr; IMU_QuaternionEKF_Init &rArr; Kalman_Filter_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_GetDeltaT
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
<LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Temperature_Ctrl
<LI><a href="#[cd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Param_Correction
<LI><a href="#[e7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;EarthFrameToBodyFrame
<LI><a href="#[e6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BodyFrameToEarthFrame
<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
<LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_atan2f
</UL>
<BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[d2]"></a>Kalman_Filter_Init</STRONG> (Thumb, 1800 bytes, Stack size 32 bytes, kalman_filter.o(i.Kalman_Filter_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = Kalman_Filter_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[d3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_init_f32
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
</UL>
<BR>[Called By]<UL><LI><a href="#[d1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Init
</UL>

<P><STRONG><a name="[e9]"></a>Kalman_Filter_Measure</STRONG> (Thumb, 74 bytes, Stack size 16 bytes, kalman_filter.o(i.Kalman_Filter_Measure))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = Kalman_Filter_Measure &rArr; H_K_R_Adjustment
</UL>
<BR>[Calls]<UL><LI><a href="#[cb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;H_K_R_Adjustment
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>
<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
</UL>

<P><STRONG><a name="[ea]"></a>Kalman_Filter_P_Update</STRONG> (Thumb, 104 bytes, Stack size 8 bytes, kalman_filter.o(i.Kalman_Filter_P_Update))
<BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = Kalman_Filter_P_Update &rArr; arm_mat_mult_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_sub_f32
<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_mult_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
</UL>

<P><STRONG><a name="[eb]"></a>Kalman_Filter_PminusUpdate</STRONG> (Thumb, 104 bytes, Stack size 8 bytes, kalman_filter.o(i.Kalman_Filter_PminusUpdate))
<BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = Kalman_Filter_PminusUpdate &rArr; arm_mat_trans_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_trans_f32
<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_mult_f32
<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_add_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
</UL>

<P><STRONG><a name="[ec]"></a>Kalman_Filter_SetK</STRONG> (Thumb, 210 bytes, Stack size 8 bytes, kalman_filter.o(i.Kalman_Filter_SetK))
<BR><BR>[Stack]<UL><LI>Max Depth = 68<LI>Call Chain = Kalman_Filter_SetK &rArr; arm_mat_inverse_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_trans_f32
<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_mult_f32
<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_inverse_f32
<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_add_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
</UL>

<P><STRONG><a name="[d5]"></a>Kalman_Filter_Update</STRONG> (Thumb, 284 bytes, Stack size 16 bytes, kalman_filter.o(i.Kalman_Filter_Update))
<BR><BR>[Stack]<UL><LI>Max Depth = 84<LI>Call Chain = Kalman_Filter_Update &rArr; Kalman_Filter_SetK &rArr; arm_mat_inverse_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[ee]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatUpdate
<LI><a href="#[ed]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_xhatMinusUpdate
<LI><a href="#[ec]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_SetK
<LI><a href="#[eb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_PminusUpdate
<LI><a href="#[ea]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_P_Update
<LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Measure
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>
<BR>[Called By]<UL><LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
</UL>

<P><STRONG><a name="[ed]"></a>Kalman_Filter_xhatMinusUpdate</STRONG> (Thumb, 124 bytes, Stack size 8 bytes, kalman_filter.o(i.Kalman_Filter_xhatMinusUpdate))
<BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = Kalman_Filter_xhatMinusUpdate &rArr; arm_mat_mult_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_mult_f32
<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_add_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
</UL>

<P><STRONG><a name="[ee]"></a>Kalman_Filter_xhatUpdate</STRONG> (Thumb, 134 bytes, Stack size 8 bytes, kalman_filter.o(i.Kalman_Filter_xhatUpdate))
<BR><BR>[Stack]<UL><LI>Max Depth = 52<LI>Call Chain = Kalman_Filter_xhatUpdate &rArr; arm_mat_mult_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_sub_f32
<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_mult_f32
<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_add_f32
</UL>
<BR>[Called By]<UL><LI><a href="#[d5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Update
</UL>

<P><STRONG><a name="[ef]"></a>MX_CAN1_Init</STRONG> (Thumb, 58 bytes, Stack size 8 bytes, can.o(i.MX_CAN1_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = MX_CAN1_Init &rArr; HAL_CAN_Init &rArr; HAL_CAN_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Init
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f0]"></a>MX_CAN2_Init</STRONG> (Thumb, 58 bytes, Stack size 8 bytes, can.o(i.MX_CAN2_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 104<LI>Call Chain = MX_CAN2_Init &rArr; HAL_CAN_Init &rArr; HAL_CAN_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[95]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_CAN_Init
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f1]"></a>MX_DMA_Init</STRONG> (Thumb, 114 bytes, Stack size 8 bytes, dma.o(i.MX_DMA_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = MX_DMA_Init &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
<LI><a href="#[9b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_EnableIRQ
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f2]"></a>MX_FREERTOS_Init</STRONG> (Thumb, 30 bytes, Stack size 32 bytes, freertos.o(i.MX_FREERTOS_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 200<LI>Call Chain = MX_FREERTOS_Init &rArr; osThreadCreate &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadCreate
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f4]"></a>MX_GPIO_Init</STRONG> (Thumb, 312 bytes, Stack size 32 bytes, gpio.o(i.MX_GPIO_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = MX_GPIO_Init &rArr; HAL_GPIO_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[72]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_WritePin
<LI><a href="#[99]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GPIO_Init
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f5]"></a>MX_SPI1_Init</STRONG> (Thumb, 62 bytes, Stack size 8 bytes, spi.o(i.MX_SPI1_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = MX_SPI1_Init &rArr; HAL_SPI_Init &rArr; HAL_SPI_MspInit &rArr; HAL_DMA_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[af]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_Init
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f6]"></a>MX_TIM10_Init</STRONG> (Thumb, 100 bytes, Stack size 32 bytes, tim.o(i.MX_TIM10_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 88<LI>Call Chain = MX_TIM10_Init &rArr; HAL_TIM_MspPostInit &rArr; HAL_GPIO_Init
</UL>
<BR>[Calls]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
<LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
<LI><a href="#[bd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_MspPostInit
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f7]"></a>MX_USART3_UART_Init</STRONG> (Thumb, 44 bytes, Stack size 8 bytes, usart.o(i.MX_USART3_UART_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 96<LI>Call Chain = MX_USART3_UART_Init &rArr; HAL_UART_Init &rArr; HAL_UART_MspInit &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[3]"></a>MemManage_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.MemManage_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[1]"></a>NMI_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.NMI_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[f8]"></a>OLS_Derivative</STRONG> (Thumb, 578 bytes, Stack size 16 bytes, user_lib.o(i.OLS_Derivative))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = OLS_Derivative
</UL>
<BR>[Calls]<UL><LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
</UL>
<BR>[Called By]<UL><LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Derivative_On_Measurement
<LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[f9]"></a>OLS_Init</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, user_lib.o(i.OLS_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = OLS_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
<LI><a href="#[6d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr
</UL>
<BR>[Called By]<UL><LI><a href="#[e4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Improve_Init
</UL>

<P><STRONG><a name="[df]"></a>PID_Calculate</STRONG> (Thumb, 720 bytes, Stack size 16 bytes, controller.o(i.PID_Calculate))
<BR><BR>[Stack]<UL><LI>Max Depth = 48<LI>Call Chain = PID_Calculate &rArr; DWT_GetDeltaT &rArr; DWT_CNT_Update
</UL>
<BR>[Calls]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Derivative
<LI><a href="#[fb]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Trapezoid_Intergral
<LI><a href="#[102]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Proportion_Limit
<LI><a href="#[fa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_PID_ErrorHandle
<LI><a href="#[101]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Output_Limit
<LI><a href="#[100]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Output_Filter
<LI><a href="#[ff]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Integral_Limit
<LI><a href="#[fd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Derivative_On_Measurement
<LI><a href="#[fe]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Derivative_Filter
<LI><a href="#[fc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;f_Changing_Integration_Rate
<LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_GetDeltaT
</UL>
<BR>[Called By]<UL><LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Temperature_Ctrl
</UL>

<P><STRONG><a name="[e4]"></a>PID_Improve_Init</STRONG> (Thumb, 184 bytes, Stack size 56 bytes, controller.o(i.PID_Improve_Init))
<BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = PID_Improve_Init &rArr; OLS_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Init
</UL>
<BR>[Called By]<UL><LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Init
</UL>

<P><STRONG><a name="[66]"></a>StartDefaultTask</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, freertos.o(i.StartDefaultTask))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = StartDefaultTask &rArr; osDelay &rArr; vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[104]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelay
</UL>
<BR>[Address Reference Count : 1]<UL><LI> freertos.o(.constdata)
</UL>
<P><STRONG><a name="[9]"></a>SysTick_Handler</STRONG> (Thumb, 46 bytes, Stack size 8 bytes, port.o(i.SysTick_Handler))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = SysTick_Handler &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[106]"></a>SystemClock_Config</STRONG> (Thumb, 170 bytes, Stack size 80 bytes, main.o(i.SystemClock_Config))
<BR><BR>[Stack]<UL><LI>Max Depth = 200<LI>Call Chain = SystemClock_Config &rArr; HAL_RCC_ClockConfig &rArr; HAL_InitTick &rArr; HAL_NVIC_SetPriority &rArr; __NVIC_SetPriority
</UL>
<BR>[Calls]<UL><LI><a href="#[ae]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_OscConfig
<LI><a href="#[aa]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_ClockConfig
<LI><a href="#[b1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Error_Handler
<LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[5c]"></a>SystemInit</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, system_stm32f4xx.o(i.SystemInit))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(.text)
</UL>
<P><STRONG><a name="[37]"></a>TIM8_TRG_COM_TIM14_IRQHandler</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, stm32f4xx_it.o(i.TIM8_TRG_COM_TIM14_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = TIM8_TRG_COM_TIM14_IRQHandler &rArr; HAL_TIM_IRQHandler &rArr; HAL_TIM_PeriodElapsedCallback
</UL>
<BR>[Calls]<UL><LI><a href="#[b5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_IRQHandler
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[b4]"></a>TIM_Base_SetConfig</STRONG> (Thumb, 170 bytes, Stack size 8 bytes, stm32f4xx_hal_tim.o(i.TIM_Base_SetConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = TIM_Base_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[c3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Init
<LI><a href="#[a6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_Base_Init
</UL>

<P><STRONG><a name="[c6]"></a>TIM_CCxChannelCmd</STRONG> (Thumb, 34 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(i.TIM_CCxChannelCmd))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_CCxChannelCmd
</UL>
<BR>[Called By]<UL><LI><a href="#[c5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_Start
</UL>

<P><STRONG><a name="[c0]"></a>TIM_OC2_SetConfig</STRONG> (Thumb, 114 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(i.TIM_OC2_SetConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_OC2_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
</UL>

<P><STRONG><a name="[e2]"></a>TIM_Set_PWM</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, ins_task.o(i.TIM_Set_PWM))
<BR><BR>[Called By]<UL><LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Temperature_Ctrl
</UL>

<P><STRONG><a name="[31]"></a>USART3_IRQHandler</STRONG> (Thumb, 264 bytes, Stack size 8 bytes, rc.o(i.USART3_IRQHandler))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = USART3_IRQHandler
</UL>
<BR>[Calls]<UL><LI><a href="#[107]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sbus_to_rc
</UL>
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[5]"></a>UsageFault_Handler</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, stm32f4xx_it.o(i.UsageFault_Handler))
<BR>[Address Reference Count : 1]<UL><LI> startup_stm32f407xx.o(RESET)
</UL>
<P><STRONG><a name="[10c]"></a>__ARM_fpclassifyf</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, fpclassifyf.o(i.__ARM_fpclassifyf))
<BR><BR>[Called By]<UL><LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_atan2f
<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
</UL>

<P><STRONG><a name="[dc]"></a>__hardfp_acosf</STRONG> (Thumb, 234 bytes, Stack size 16 bytes, acosf.o(i.__hardfp_acosf))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __hardfp_acosf &rArr; sqrtf
</UL>
<BR>[Calls]<UL><LI><a href="#[10a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
<LI><a href="#[10b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_invalid
<LI><a href="#[109]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_infnan
<LI><a href="#[108]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sqrtf
</UL>
<BR>[Called By]<UL><LI><a href="#[61]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_xhatUpdate
</UL>

<P><STRONG><a name="[d7]"></a>__hardfp_asinf</STRONG> (Thumb, 258 bytes, Stack size 16 bytes, asinf.o(i.__hardfp_asinf))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = __hardfp_asinf &rArr; sqrtf
</UL>
<BR>[Calls]<UL><LI><a href="#[10a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
<LI><a href="#[10d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_underflow
<LI><a href="#[10b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_invalid
<LI><a href="#[109]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_infnan
<LI><a href="#[10c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_fpclassifyf
<LI><a href="#[108]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sqrtf
</UL>
<BR>[Called By]<UL><LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
</UL>

<P><STRONG><a name="[d6]"></a>__hardfp_atan2f</STRONG> (Thumb, 502 bytes, Stack size 16 bytes, atan2f.o(i.__hardfp_atan2f))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __hardfp_atan2f
</UL>
<BR>[Calls]<UL><LI><a href="#[10d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_underflow
<LI><a href="#[10e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__mathlib_flt_infnan2
<LI><a href="#[10c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_fpclassifyf
</UL>
<BR>[Called By]<UL><LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
<LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
</UL>

<P><STRONG><a name="[83]"></a>__hardfp_sqrtf</STRONG> (Thumb, 58 bytes, Stack size 16 bytes, sqrtf_full.o(i.__hardfp_sqrtf))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = __hardfp_sqrtf
</UL>
<BR>[Calls]<UL><LI><a href="#[10a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
</UL>
<BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
</UL>

<P><STRONG><a name="[109]"></a>__mathlib_flt_infnan</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan))
<BR><BR>[Called By]<UL><LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_acosf
</UL>

<P><STRONG><a name="[10e]"></a>__mathlib_flt_infnan2</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_infnan2))
<BR><BR>[Called By]<UL><LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_atan2f
</UL>

<P><STRONG><a name="[10b]"></a>__mathlib_flt_invalid</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_invalid))
<BR><BR>[Called By]<UL><LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_acosf
</UL>

<P><STRONG><a name="[10d]"></a>__mathlib_flt_underflow</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, funder.o(i.__mathlib_flt_underflow))
<BR><BR>[Called By]<UL><LI><a href="#[d6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_atan2f
<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
</UL>

<P><STRONG><a name="[14e]"></a>__scatterload_copy</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_copy), UNUSED)

<P><STRONG><a name="[14f]"></a>__scatterload_null</STRONG> (Thumb, 2 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_null), UNUSED)

<P><STRONG><a name="[150]"></a>__scatterload_zeroinit</STRONG> (Thumb, 14 bytes, Stack size unknown bytes, handlers.o(i.__scatterload_zeroinit), UNUSED)

<P><STRONG><a name="[10a]"></a>__set_errno</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, errno.o(i.__set_errno))
<BR><BR>[Called By]<UL><LI><a href="#[108]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;sqrtf
<LI><a href="#[83]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_sqrtf
<LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_acosf
</UL>

<P><STRONG><a name="[7a]"></a>bmi088_accel_init</STRONG> (Thumb, 348 bytes, Stack size 8 bytes, bmi_driver.o(i.bmi088_accel_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 160<LI>Call Chain = bmi088_accel_init &rArr; BMI088_write_single_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
<LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
<LI><a href="#[73]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_L
<LI><a href="#[71]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_ACCEL_NS_H
<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_write_single_reg
</UL>
<BR>[Called By]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_init
</UL>

<P><STRONG><a name="[7b]"></a>bmi088_gyro_init</STRONG> (Thumb, 284 bytes, Stack size 8 bytes, bmi_driver.o(i.bmi088_gyro_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 160<LI>Call Chain = bmi088_gyro_init &rArr; BMI088_write_single_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
<LI><a href="#[75]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_L
<LI><a href="#[74]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_GYRO_NS_H
<LI><a href="#[7f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_write_single_reg
<LI><a href="#[7d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_single_reg
</UL>
<BR>[Called By]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_init
</UL>

<P><STRONG><a name="[10f]"></a>correspondence_init</STRONG> (Thumb, 8 bytes, Stack size 8 bytes, robot.o(i.correspondence_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 160<LI>Call Chain = correspondence_init &rArr; manger_init &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[110]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manger_init
</UL>
<BR>[Called By]<UL><LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_init
</UL>

<P><STRONG><a name="[fc]"></a>f_Changing_Integration_Rate</STRONG> (Thumb, 234 bytes, Stack size 0 bytes, controller.o(i.f_Changing_Integration_Rate))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[fe]"></a>f_Derivative_Filter</STRONG> (Thumb, 86 bytes, Stack size 0 bytes, controller.o(i.f_Derivative_Filter))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[fd]"></a>f_Derivative_On_Measurement</STRONG> (Thumb, 244 bytes, Stack size 8 bytes, controller.o(i.f_Derivative_On_Measurement))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = f_Derivative_On_Measurement &rArr; OLS_Derivative
</UL>
<BR>[Calls]<UL><LI><a href="#[f8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Derivative
</UL>
<BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[ff]"></a>f_Integral_Limit</STRONG> (Thumb, 226 bytes, Stack size 0 bytes, controller.o(i.f_Integral_Limit))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[100]"></a>f_Output_Filter</STRONG> (Thumb, 86 bytes, Stack size 0 bytes, controller.o(i.f_Output_Filter))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[101]"></a>f_Output_Limit</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, controller.o(i.f_Output_Limit))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[fa]"></a>f_PID_ErrorHandle</STRONG> (Thumb, 166 bytes, Stack size 8 bytes, controller.o(i.f_PID_ErrorHandle))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = f_PID_ErrorHandle
</UL>
<BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[102]"></a>f_Proportion_Limit</STRONG> (Thumb, 70 bytes, Stack size 0 bytes, controller.o(i.f_Proportion_Limit))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[fb]"></a>f_Trapezoid_Intergral</STRONG> (Thumb, 128 bytes, Stack size 0 bytes, controller.o(i.f_Trapezoid_Intergral))
<BR><BR>[Called By]<UL><LI><a href="#[df]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calculate
</UL>

<P><STRONG><a name="[e1]"></a>float_constrain</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, user_lib.o(i.float_constrain))
<BR><BR>[Called By]<UL><LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Temperature_Ctrl
</UL>

<P><STRONG><a name="[e0]"></a>float_rounding</STRONG> (Thumb, 62 bytes, Stack size 0 bytes, user_lib.o(i.float_rounding))
<BR><BR>[Called By]<UL><LI><a href="#[de]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_Temperature_Ctrl
</UL>

<P><STRONG><a name="[118]"></a>get_remote_control_point</STRONG> (Thumb, 4 bytes, Stack size 0 bytes, rc.o(i.get_remote_control_point))
<BR><BR>[Called By]<UL><LI><a href="#[110]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manger_init
</UL>

<P><STRONG><a name="[133]"></a>get_robot_state</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, robot_state.o(i.get_robot_state))
<BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[111]"></a>ins_init</STRONG> (Thumb, 26 bytes, Stack size 16 bytes, ins_task.o(i.ins_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 248<LI>Call Chain = ins_init &rArr; BMI088_init &rArr; Calibrate_MPU_Offset &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[79]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_init
<LI><a href="#[e3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Init
</UL>
<BR>[Called By]<UL><LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_init
</UL>

<P><STRONG><a name="[134]"></a>is_robot_init_done</STRONG> (Thumb, 20 bytes, Stack size 0 bytes, robot_state.o(i.is_robot_init_done))
<BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[135]"></a>is_soc_2_mcu_init_done</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, robot_state.o(i.is_soc_2_mcu_init_done))
<BR><BR>[Called By]<UL><LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[5b]"></a>main</STRONG> (Thumb, 58 bytes, Stack size 0 bytes, main.o(i.main))
<BR><BR>[Stack]<UL><LI>Max Depth = 264<LI>Call Chain = main &rArr; robot_init &rArr; ins_init &rArr; BMI088_init &rArr; Calibrate_MPU_Offset &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_init
<LI><a href="#[113]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelStart
<LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_USART3_UART_Init
<LI><a href="#[f6]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_TIM10_Init
<LI><a href="#[f5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_SPI1_Init
<LI><a href="#[f4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_GPIO_Init
<LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FREERTOS_Init
<LI><a href="#[f1]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_DMA_Init
<LI><a href="#[f0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN2_Init
<LI><a href="#[ef]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_CAN1_Init
<LI><a href="#[a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Init
<LI><a href="#[82]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_Delay
<LI><a href="#[106]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SystemClock_Config
</UL>
<BR>[Address Reference Count : 1]<UL><LI> entry9a.o(.ARM.Collect$$$$0000000B)
</UL>
<P><STRONG><a name="[110]"></a>manger_init</STRONG> (Thumb, 38 bytes, Stack size 16 bytes, manager.o(i.manger_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = manger_init &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[117]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;remote_control_init
<LI><a href="#[118]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;get_remote_control_point
<LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
</UL>
<BR>[Called By]<UL><LI><a href="#[10f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;correspondence_init
</UL>

<P><STRONG><a name="[104]"></a>osDelay</STRONG> (Thumb, 24 bytes, Stack size 16 bytes, cmsis_os.o(i.osDelay))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = osDelay &rArr; vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[11a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
</UL>
<BR>[Called By]<UL><LI><a href="#[66]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;StartDefaultTask
</UL>

<P><STRONG><a name="[113]"></a>osKernelStart</STRONG> (Thumb, 10 bytes, Stack size 8 bytes, cmsis_os.o(i.osKernelStart))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = osKernelStart &rArr; vTaskStartScheduler &rArr; xTaskCreateStatic &rArr; prvInitialiseNewTask
</UL>
<BR>[Calls]<UL><LI><a href="#[11b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[f3]"></a>osThreadCreate</STRONG> (Thumb, 94 bytes, Stack size 32 bytes, cmsis_os.o(i.osThreadCreate))
<BR><BR>[Stack]<UL><LI>Max Depth = 168<LI>Call Chain = osThreadCreate &rArr; xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[11c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;makeFreeRtosPriority
<LI><a href="#[11d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
<LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
</UL>
<BR>[Called By]<UL><LI><a href="#[f2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;MX_FREERTOS_Init
</UL>

<P><STRONG><a name="[e8]"></a>pvPortMalloc</STRONG> (Thumb, 306 bytes, Stack size 24 bytes, heap_4.o(i.pvPortMalloc))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[12f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
<LI><a href="#[12e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvHeapInit
<LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[12d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
</UL>
<BR>[Called By]<UL><LI><a href="#[f9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;OLS_Init
<LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
<LI><a href="#[d2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Init
</UL>

<P><STRONG><a name="[12b]"></a>pxPortInitialiseStack</STRONG> (Thumb, 38 bytes, Stack size 0 bytes, port.o(i.pxPortInitialiseStack))
<BR><BR>[Called By]<UL><LI><a href="#[129]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
</UL>

<P><STRONG><a name="[131]"></a>rc_init</STRONG> (Thumb, 142 bytes, Stack size 8 bytes, rc.o(i.rc_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = rc_init
</UL>
<BR>[Called By]<UL><LI><a href="#[117]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;remote_control_init
</UL>

<P><STRONG><a name="[117]"></a>remote_control_init</STRONG> (Thumb, 16 bytes, Stack size 4 bytes, rc.o(i.remote_control_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = remote_control_init &rArr; rc_init
</UL>
<BR>[Calls]<UL><LI><a href="#[131]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;rc_init
</UL>
<BR>[Called By]<UL><LI><a href="#[110]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manger_init
</UL>

<P><STRONG><a name="[112]"></a>robot_init</STRONG> (Thumb, 50 bytes, Stack size 16 bytes, robot.o(i.robot_init))
<BR><BR>[Stack]<UL><LI>Max Depth = 264<LI>Call Chain = robot_init &rArr; ins_init &rArr; BMI088_init &rArr; Calibrate_MPU_Offset &rArr; BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[115]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;set_robot_state
<LI><a href="#[111]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;ins_init
<LI><a href="#[132]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_Init
<LI><a href="#[10f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;correspondence_init
<LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
</UL>
<BR>[Called By]<UL><LI><a href="#[5b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;main
</UL>

<P><STRONG><a name="[115]"></a>set_robot_state</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, robot_state.o(i.set_robot_state))
<BR><BR>[Called By]<UL><LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_init
<LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manager_task
<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[108]"></a>sqrtf</STRONG> (Thumb, 62 bytes, Stack size 16 bytes, sqrtf_full.o(i.sqrtf))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = sqrtf
</UL>
<BR>[Calls]<UL><LI><a href="#[10a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__set_errno
</UL>
<BR>[Called By]<UL><LI><a href="#[d7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_asinf
<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_acosf
</UL>

<P><STRONG><a name="[11f]"></a>uxListRemove</STRONG> (Thumb, 40 bytes, Stack size 0 bytes, list.o(i.uxListRemove))
<BR><BR>[Called By]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[126]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
<LI><a href="#[11e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>

<P><STRONG><a name="[136]"></a>vApplicationGetIdleTaskMemory</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, freertos.o(i.vApplicationGetIdleTaskMemory))
<BR><BR>[Called By]<UL><LI><a href="#[11b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
</UL>

<P><STRONG><a name="[12c]"></a>vListInitialise</STRONG> (Thumb, 26 bytes, Stack size 0 bytes, list.o(i.vListInitialise))
<BR><BR>[Called By]<UL><LI><a href="#[124]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
</UL>

<P><STRONG><a name="[12a]"></a>vListInitialiseItem</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, list.o(i.vListInitialiseItem))
<BR><BR>[Called By]<UL><LI><a href="#[129]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
</UL>

<P><STRONG><a name="[121]"></a>vListInsert</STRONG> (Thumb, 52 bytes, Stack size 8 bytes, list.o(i.vListInsert))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = vListInsert
</UL>
<BR>[Called By]<UL><LI><a href="#[11e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>

<P><STRONG><a name="[120]"></a>vListInsertEnd</STRONG> (Thumb, 24 bytes, Stack size 0 bytes, list.o(i.vListInsertEnd))
<BR><BR>[Called By]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[122]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
<LI><a href="#[11e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>

<P><STRONG><a name="[123]"></a>vPortEnterCritical</STRONG> (Thumb, 76 bytes, Stack size 0 bytes, port.o(i.vPortEnterCritical))
<BR><BR>[Called By]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[126]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
<LI><a href="#[122]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
</UL>

<P><STRONG><a name="[125]"></a>vPortExitCritical</STRONG> (Thumb, 56 bytes, Stack size 0 bytes, port.o(i.vPortExitCritical))
<BR><BR>[Called By]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[126]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
<LI><a href="#[122]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
</UL>

<P><STRONG><a name="[128]"></a>vPortFree</STRONG> (Thumb, 150 bytes, Stack size 16 bytes, heap_4.o(i.vPortFree))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[12f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInsertBlockIntoFreeList
<LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[12d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
</UL>
<BR>[Called By]<UL><LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
<LI><a href="#[127]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
</UL>

<P><STRONG><a name="[138]"></a>vPortSetupTimerInterrupt</STRONG> (Thumb, 36 bytes, Stack size 0 bytes, port.o(i.vPortSetupTimerInterrupt))
<BR><BR>[Called By]<UL><LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
</UL>

<P><STRONG><a name="[11a]"></a>vTaskDelay</STRONG> (Thumb, 82 bytes, Stack size 16 bytes, tasks.o(i.vTaskDelay))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = vTaskDelay &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[12d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[11e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>
<BR>[Called By]<UL><LI><a href="#[104]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelay
</UL>

<P><STRONG><a name="[116]"></a>vTaskDelayUntil</STRONG> (Thumb, 200 bytes, Stack size 32 bytes, tasks.o(i.vTaskDelayUntil))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[12d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskSuspendAll
<LI><a href="#[11e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddCurrentTaskToDelayedList
</UL>
<BR>[Called By]<UL><LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manager_task
<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[11b]"></a>vTaskStartScheduler</STRONG> (Thumb, 146 bytes, Stack size 32 bytes, tasks.o(i.vTaskStartScheduler))
<BR><BR>[Stack]<UL><LI>Max Depth = 144<LI>Call Chain = vTaskStartScheduler &rArr; xTaskCreateStatic &rArr; prvInitialiseNewTask
</UL>
<BR>[Calls]<UL><LI><a href="#[136]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vApplicationGetIdleTaskMemory
<LI><a href="#[137]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xPortStartScheduler
<LI><a href="#[11d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
</UL>
<BR>[Called By]<UL><LI><a href="#[113]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelStart
</UL>

<P><STRONG><a name="[12d]"></a>vTaskSuspendAll</STRONG> (Thumb, 12 bytes, Stack size 0 bytes, tasks.o(i.vTaskSuspendAll))
<BR><BR>[Called By]<UL><LI><a href="#[128]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[116]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<LI><a href="#[11a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
</UL>

<P><STRONG><a name="[69]"></a>vTaskSwitchContext</STRONG> (Thumb, 118 bytes, Stack size 0 bytes, tasks.o(i.vTaskSwitchContext))
<BR><BR>[Called By]<UL><LI><a href="#[8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PendSV_Handler
</UL>

<P><STRONG><a name="[137]"></a>xPortStartScheduler</STRONG> (Thumb, 330 bytes, Stack size 16 bytes, port.o(i.xPortStartScheduler))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = xPortStartScheduler
</UL>
<BR>[Calls]<UL><LI><a href="#[138]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortSetupTimerInterrupt
<LI><a href="#[139]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__asm___6_port_c_39a90d8d__prvEnableVFP
<LI><a href="#[13a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__asm___6_port_c_39a90d8d__prvStartFirstTask
</UL>
<BR>[Called By]<UL><LI><a href="#[11b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
</UL>

<P><STRONG><a name="[119]"></a>xTaskCreate</STRONG> (Thumb, 100 bytes, Stack size 72 bytes, tasks.o(i.xTaskCreate))
<BR><BR>[Stack]<UL><LI>Max Depth = 136<LI>Call Chain = xTaskCreate &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[128]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[129]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
<LI><a href="#[122]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
</UL>
<BR>[Called By]<UL><LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadCreate
<LI><a href="#[112]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_init
<LI><a href="#[110]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manger_init
</UL>

<P><STRONG><a name="[11d]"></a>xTaskCreateStatic</STRONG> (Thumb, 186 bytes, Stack size 56 bytes, tasks.o(i.xTaskCreateStatic))
<BR><BR>[Stack]<UL><LI>Max Depth = 112<LI>Call Chain = xTaskCreateStatic &rArr; prvInitialiseNewTask
</UL>
<BR>[Calls]<UL><LI><a href="#[129]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseNewTask
<LI><a href="#[122]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
</UL>
<BR>[Called By]<UL><LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadCreate
<LI><a href="#[11b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskStartScheduler
</UL>

<P><STRONG><a name="[114]"></a>xTaskGetTickCount</STRONG> (Thumb, 6 bytes, Stack size 0 bytes, tasks.o(i.xTaskGetTickCount))
<BR><BR>[Called By]<UL><LI><a href="#[62]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;manager_task
<LI><a href="#[64]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;robot_task
</UL>

<P><STRONG><a name="[105]"></a>xTaskIncrementTick</STRONG> (Thumb, 282 bytes, Stack size 24 bytes, tasks.o(i.xTaskIncrementTick))
<BR><BR>[Stack]<UL><LI>Max Depth = 24<LI>Call Chain = xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[120]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[11f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[13b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
</UL>
<BR>[Called By]<UL><LI><a href="#[9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SysTick_Handler
<LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
</UL>

<P><STRONG><a name="[130]"></a>xTaskResumeAll</STRONG> (Thumb, 224 bytes, Stack size 16 bytes, tasks.o(i.xTaskResumeAll))
<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[120]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[11f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[125]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[123]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
<LI><a href="#[13b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvResetNextTaskUnblockTime
</UL>
<BR>[Called By]<UL><LI><a href="#[128]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
<LI><a href="#[116]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<LI><a href="#[11a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
</UL>
<P>
<H3>
Local Symbols
</H3>
<P><STRONG><a name="[9f]"></a>DMA_CalcBaseAndBitshift</STRONG> (Thumb, 46 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(i.DMA_CalcBaseAndBitshift))
<BR><BR>[Called By]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
</UL>

<P><STRONG><a name="[9e]"></a>DMA_CheckFifoParam</STRONG> (Thumb, 170 bytes, Stack size 0 bytes, stm32f4xx_hal_dma.o(i.DMA_CheckFifoParam))
<BR><BR>[Called By]<UL><LI><a href="#[9d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_DMA_Init
</UL>

<P><STRONG><a name="[a8]"></a>__NVIC_GetPriorityGrouping</STRONG> (Thumb, 10 bytes, Stack size 0 bytes, stm32f4xx_hal_cortex.o(i.__NVIC_GetPriorityGrouping))
<BR><BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
</UL>

<P><STRONG><a name="[a9]"></a>__NVIC_SetPriority</STRONG> (Thumb, 32 bytes, Stack size 8 bytes, stm32f4xx_hal_cortex.o(i.__NVIC_SetPriority))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = __NVIC_SetPriority
</UL>
<BR>[Called By]<UL><LI><a href="#[9a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_NVIC_SetPriority
</UL>

<P><STRONG><a name="[b2]"></a>SPI_EndRxTxTransaction</STRONG> (Thumb, 100 bytes, Stack size 24 bytes, stm32f4xx_hal_spi.o(i.SPI_EndRxTxTransaction))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[103]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Called By]<UL><LI><a href="#[7e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_SPI_TransmitReceive
</UL>

<P><STRONG><a name="[103]"></a>SPI_WaitFlagStateUntilTimeout</STRONG> (Thumb, 210 bytes, Stack size 40 bytes, stm32f4xx_hal_spi.o(i.SPI_WaitFlagStateUntilTimeout))
<BR><BR>[Stack]<UL><LI>Max Depth = 40<LI>Call Chain = SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[97]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_GetTick
</UL>
<BR>[Called By]<UL><LI><a href="#[b2]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;SPI_EndRxTxTransaction
</UL>

<P><STRONG><a name="[bf]"></a>TIM_OC1_SetConfig</STRONG> (Thumb, 104 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(i.TIM_OC1_SetConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_OC1_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
</UL>

<P><STRONG><a name="[c1]"></a>TIM_OC3_SetConfig</STRONG> (Thumb, 112 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(i.TIM_OC3_SetConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_OC3_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
</UL>

<P><STRONG><a name="[c2]"></a>TIM_OC4_SetConfig</STRONG> (Thumb, 74 bytes, Stack size 12 bytes, stm32f4xx_hal_tim.o(i.TIM_OC4_SetConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = TIM_OC4_SetConfig
</UL>
<BR>[Called By]<UL><LI><a href="#[be]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_TIM_PWM_ConfigChannel
</UL>

<P><STRONG><a name="[ca]"></a>UART_SetConfig</STRONG> (Thumb, 546 bytes, Stack size 40 bytes, stm32f4xx_hal_uart.o(i.UART_SetConfig))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = UART_SetConfig &rArr; __aeabi_uldivmod
</UL>
<BR>[Calls]<UL><LI><a href="#[ad]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK2Freq
<LI><a href="#[a5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_RCC_GetPCLK1Freq
<LI><a href="#[6a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_uldivmod
</UL>
<BR>[Called By]<UL><LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;HAL_UART_Init
</UL>

<P><STRONG><a name="[11e]"></a>prvAddCurrentTaskToDelayedList</STRONG> (Thumb, 124 bytes, Stack size 24 bytes, tasks.o(i.prvAddCurrentTaskToDelayedList))
<BR><BR>[Stack]<UL><LI>Max Depth = 32<LI>Call Chain = prvAddCurrentTaskToDelayedList &rArr; vListInsert
</UL>
<BR>[Calls]<UL><LI><a href="#[120]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[121]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsert
<LI><a href="#[11f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
</UL>
<BR>[Called By]<UL><LI><a href="#[116]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
<LI><a href="#[11a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelay
</UL>

<P><STRONG><a name="[122]"></a>prvAddNewTaskToReadyList</STRONG> (Thumb, 150 bytes, Stack size 8 bytes, tasks.o(i.prvAddNewTaskToReadyList))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = prvAddNewTaskToReadyList &rArr; prvInitialiseTaskLists
</UL>
<BR>[Calls]<UL><LI><a href="#[120]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInsertEnd
<LI><a href="#[125]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[123]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[124]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvInitialiseTaskLists
</UL>
<BR>[Called By]<UL><LI><a href="#[11d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
<LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
</UL>

<P><STRONG><a name="[126]"></a>prvCheckTasksWaitingTermination</STRONG> (Thumb, 60 bytes, Stack size 8 bytes, tasks.o(i.prvCheckTasksWaitingTermination))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[11f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;uxListRemove
<LI><a href="#[125]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortExitCritical
<LI><a href="#[123]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortEnterCritical
<LI><a href="#[127]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvDeleteTCB
</UL>
<BR>[Called By]<UL><LI><a href="#[65]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvIdleTask
</UL>

<P><STRONG><a name="[127]"></a>prvDeleteTCB</STRONG> (Thumb, 80 bytes, Stack size 8 bytes, tasks.o(i.prvDeleteTCB))
<BR><BR>[Stack]<UL><LI>Max Depth = 64<LI>Call Chain = prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[128]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
</UL>
<BR>[Called By]<UL><LI><a href="#[126]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
</UL>

<P><STRONG><a name="[65]"></a>prvIdleTask</STRONG> (Thumb, 32 bytes, Stack size 0 bytes, tasks.o(i.prvIdleTask))
<BR><BR>[Stack]<UL><LI>Max Depth = 72<LI>Call Chain = prvIdleTask &rArr; prvCheckTasksWaitingTermination &rArr; prvDeleteTCB &rArr; vPortFree &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[126]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvCheckTasksWaitingTermination
</UL>
<BR>[Address Reference Count : 1]<UL><LI> tasks.o(i.vTaskStartScheduler)
</UL>
<P><STRONG><a name="[129]"></a>prvInitialiseNewTask</STRONG> (Thumb, 180 bytes, Stack size 56 bytes, tasks.o(i.prvInitialiseNewTask))
<BR><BR>[Stack]<UL><LI>Max Depth = 56<LI>Call Chain = prvInitialiseNewTask
</UL>
<BR>[Calls]<UL><LI><a href="#[12a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialiseItem
<LI><a href="#[12b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pxPortInitialiseStack
</UL>
<BR>[Called By]<UL><LI><a href="#[11d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreateStatic
<LI><a href="#[119]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskCreate
</UL>

<P><STRONG><a name="[124]"></a>prvInitialiseTaskLists</STRONG> (Thumb, 70 bytes, Stack size 8 bytes, tasks.o(i.prvInitialiseTaskLists))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = prvInitialiseTaskLists
</UL>
<BR>[Calls]<UL><LI><a href="#[12c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vListInitialise
</UL>
<BR>[Called By]<UL><LI><a href="#[122]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;prvAddNewTaskToReadyList
</UL>

<P><STRONG><a name="[13b]"></a>prvResetNextTaskUnblockTime</STRONG> (Thumb, 42 bytes, Stack size 0 bytes, tasks.o(i.prvResetNextTaskUnblockTime))
<BR><BR>[Called By]<UL><LI><a href="#[130]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskResumeAll
<LI><a href="#[105]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskIncrementTick
</UL>

<P><STRONG><a name="[11c]"></a>makeFreeRtosPriority</STRONG> (Thumb, 14 bytes, Stack size 0 bytes, cmsis_os.o(i.makeFreeRtosPriority))
<BR><BR>[Called By]<UL><LI><a href="#[f3]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osThreadCreate
</UL>

<P><STRONG><a name="[12e]"></a>prvHeapInit</STRONG> (Thumb, 98 bytes, Stack size 12 bytes, heap_4.o(i.prvHeapInit))
<BR><BR>[Stack]<UL><LI>Max Depth = 12<LI>Call Chain = prvHeapInit
</UL>
<BR>[Called By]<UL><LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>

<P><STRONG><a name="[12f]"></a>prvInsertBlockIntoFreeList</STRONG> (Thumb, 96 bytes, Stack size 8 bytes, heap_4.o(i.prvInsertBlockIntoFreeList))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = prvInsertBlockIntoFreeList
</UL>
<BR>[Called By]<UL><LI><a href="#[128]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vPortFree
<LI><a href="#[e8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;pvPortMalloc
</UL>

<P><STRONG><a name="[63]"></a>prvTaskExitError</STRONG> (Thumb, 60 bytes, Stack size 0 bytes, port.o(i.prvTaskExitError))
<BR>[Address Reference Count : 1]<UL><LI> port.o(i.pxPortInitialiseStack)
</UL>
<P><STRONG><a name="[64]"></a>robot_task</STRONG> (Thumb, 76 bytes, Stack size 8 bytes, robot.o(i.robot_task))
<BR><BR>[Stack]<UL><LI>Max Depth = 208<LI>Call Chain = robot_task &rArr; INS_Task &rArr; IMU_QuaternionEKF_Update &rArr; IMU_QuaternionEKF_Init &rArr; Kalman_Filter_Init &rArr; pvPortMalloc &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[115]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;set_robot_state
<LI><a href="#[135]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;is_soc_2_mcu_init_done
<LI><a href="#[134]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;is_robot_init_done
<LI><a href="#[133]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;get_robot_state
<LI><a href="#[e5]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;INS_Task
<LI><a href="#[114]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
<LI><a href="#[116]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
</UL>
<BR>[Address Reference Count : 1]<UL><LI> robot.o(i.robot_init)
</UL>
<P><STRONG><a name="[86]"></a>DWT_CNT_Update</STRONG> (Thumb, 36 bytes, Stack size 8 bytes, dwt.o(i.DWT_CNT_Update))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = DWT_CNT_Update
</UL>
<BR>[Called By]<UL><LI><a href="#[87]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_SysTimeUpdate
<LI><a href="#[85]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;DWT_GetDeltaT
</UL>

<P><STRONG><a name="[107]"></a>sbus_to_rc</STRONG> (Thumb, 210 bytes, Stack size 0 bytes, rc.o(i.sbus_to_rc))
<BR><BR>[Called By]<UL><LI><a href="#[31]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;USART3_IRQHandler
</UL>

<P><STRONG><a name="[62]"></a>manager_task</STRONG> (Thumb, 232 bytes, Stack size 8 bytes, manager.o(i.manager_task))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = manager_task &rArr; vTaskDelayUntil &rArr; xTaskResumeAll &rArr; xTaskIncrementTick
</UL>
<BR>[Calls]<UL><LI><a href="#[115]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;set_robot_state
<LI><a href="#[114]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;xTaskGetTickCount
<LI><a href="#[116]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;vTaskDelayUntil
</UL>
<BR>[Address Reference Count : 1]<UL><LI> manager.o(i.manger_init)
</UL>
<P><STRONG><a name="[cb]"></a>H_K_R_Adjustment</STRONG> (Thumb, 300 bytes, Stack size 16 bytes, kalman_filter.o(i.H_K_R_Adjustment))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = H_K_R_Adjustment
</UL>
<BR>[Calls]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>
<BR>[Called By]<UL><LI><a href="#[e9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Kalman_Filter_Measure
</UL>

<P><STRONG><a name="[5f]"></a>IMU_QuaternionEKF_F_Linearization_P_Fading</STRONG> (Thumb, 540 bytes, Stack size 8 bytes, quaternionekf.o(i.IMU_QuaternionEKF_F_Linearization_P_Fading))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = IMU_QuaternionEKF_F_Linearization_P_Fading
</UL>
<BR>[Calls]<UL><LI><a href="#[d0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;invSqrt
</UL>
<BR>[Address Reference Count : 1]<UL><LI> quaternionekf.o(i.IMU_QuaternionEKF_Init)
</UL>
<P><STRONG><a name="[5e]"></a>IMU_QuaternionEKF_Observe</STRONG> (Thumb, 40 bytes, Stack size 8 bytes, quaternionekf.o(i.IMU_QuaternionEKF_Observe))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = IMU_QuaternionEKF_Observe
</UL>
<BR>[Calls]<UL><LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
</UL>
<BR>[Address Reference Count : 1]<UL><LI> quaternionekf.o(i.IMU_QuaternionEKF_Init)
</UL>
<P><STRONG><a name="[60]"></a>IMU_QuaternionEKF_SetH</STRONG> (Thumb, 274 bytes, Stack size 8 bytes, quaternionekf.o(i.IMU_QuaternionEKF_SetH))
<BR><BR>[Stack]<UL><LI>Max Depth = 8<LI>Call Chain = IMU_QuaternionEKF_SetH
</UL>
<BR>[Calls]<UL><LI><a href="#[98]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memclr4
</UL>
<BR>[Address Reference Count : 1]<UL><LI> quaternionekf.o(i.IMU_QuaternionEKF_Init)
</UL>
<P><STRONG><a name="[61]"></a>IMU_QuaternionEKF_xhatUpdate</STRONG> (Thumb, 1284 bytes, Stack size 24 bytes, quaternionekf.o(i.IMU_QuaternionEKF_xhatUpdate))
<BR><BR>[Stack]<UL><LI>Max Depth = 84<LI>Call Chain = IMU_QuaternionEKF_xhatUpdate &rArr; arm_mat_inverse_f32
</UL>
<BR>[Calls]<UL><LI><a href="#[d8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_trans_f32
<LI><a href="#[dd]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_sub_f32
<LI><a href="#[d9]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_mult_f32
<LI><a href="#[db]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_inverse_f32
<LI><a href="#[da]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;arm_mat_add_f32
<LI><a href="#[cc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_memcpy4
<LI><a href="#[dc]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__hardfp_acosf
</UL>
<BR>[Address Reference Count : 1]<UL><LI> quaternionekf.o(i.IMU_QuaternionEKF_Init)
</UL>
<P><STRONG><a name="[d0]"></a>invSqrt</STRONG> (Thumb, 56 bytes, Stack size 0 bytes, quaternionekf.o(i.invSqrt))
<BR><BR>[Called By]<UL><LI><a href="#[d4]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_Update
<LI><a href="#[5f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;IMU_QuaternionEKF_F_Linearization_P_Fading
</UL>

<P><STRONG><a name="[78]"></a>BMI088_read_muli_reg</STRONG> (Thumb, 38 bytes, Stack size 16 bytes, bmi_driver.o(i.BMI088_read_muli_reg))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = BMI088_read_muli_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
</UL>
<BR>[Called By]<UL><LI><a href="#[7c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Calibrate_MPU_Offset
<LI><a href="#[76]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_Read
</UL>

<P><STRONG><a name="[7d]"></a>BMI088_read_single_reg</STRONG> (Thumb, 24 bytes, Stack size 16 bytes, bmi_driver.o(i.BMI088_read_single_reg))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = BMI088_read_single_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
</UL>
<BR>[Called By]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_gyro_init
</UL>

<P><STRONG><a name="[7f]"></a>BMI088_write_single_reg</STRONG> (Thumb, 20 bytes, Stack size 16 bytes, bmi_driver.o(i.BMI088_write_single_reg))
<BR><BR>[Stack]<UL><LI>Max Depth = 152<LI>Call Chain = BMI088_write_single_reg &rArr; BMI088_read_write_byte &rArr; HAL_SPI_TransmitReceive &rArr; SPI_EndRxTxTransaction &rArr; SPI_WaitFlagStateUntilTimeout
</UL>
<BR>[Calls]<UL><LI><a href="#[77]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;BMI088_read_write_byte
</UL>
<BR>[Called By]<UL><LI><a href="#[7b]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_gyro_init
<LI><a href="#[7a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;bmi088_accel_init
</UL>
<P>
<H3>
Undefined Global Symbols
</H3><HR></body></html>
